DocumentCode :
3764053
Title :
Robust control with disturbance observer for UAV translational tracking
Author :
A. Rodriguez-Mata;R. L?pez;A. Martinez-Vasquez;S. Salazar;A. Osorio;R. Lozano
Author_Institution :
UMI LAFMIA 3175 CNRS at CINVESTAV-IPN, Av. IPN 2508 San Pedro Zacatenco, 07360 M?xico D.F.
fYear :
2015
Firstpage :
419
Lastpage :
423
Abstract :
An integral robust observer with rejection control disturbance is proposed in this paper. The design of the observer is performed employing the canonical obervable model of the original non-linear system, obtained by a change of coordinates. A practical stability is proved using the Lyapunov approach with using a high gain to maintain the solution in a convergence ball. Several simulations cases are carried out to illustrate the performance of the closed-loop system in a disturbance wind prepense. In other cases, noise in the states are added to emulate a real system.
Keywords :
"Observers","Convergence","Stability analysis","Robust control","Robustness","Mathematical model"
Publisher :
ieee
Conference_Titel :
Research, Education and Development of Unmanned Aerial Systems (RED-UAS), 2015 Workshop on
Type :
conf
DOI :
10.1109/RED-UAS.2015.7441035
Filename :
7441035
Link To Document :
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